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Real robo changes

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This commit is contained in:
evan
2022-03-05 11:12:33 -07:00
parent 71e082e7bd
commit a5058b4ad8
7 changed files with 449 additions and 268 deletions
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src/main/java/frc4388/robot/subsystems/SwerveModule.java
+46 -21
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@@ -30,7 +30,7 @@ public class SwerveModule extends SubsystemBase {
private static double kEncoderTicksPerRotation = 4096;
private SwerveModuleState state;
private double canCoderFeedbackCoefficient;
public long m_currentTime;
public long m_lastTime;
public double m_deltaTime;
@@ -56,12 +56,13 @@ public class SwerveModule extends SubsystemBase {
angleTalonFXConfiguration.remoteFilter0.remoteSensorSource = RemoteSensorSource.CANCoder;
angleTalonFXConfiguration.primaryPID.selectedFeedbackSensor = FeedbackDevice.RemoteSensor0;
angleMotor.configAllSettings(angleTalonFXConfiguration);
// angleMotor.setInverted(true);
// TalonFXConfiguration driveTalonFXConfiguration = new TalonFXConfiguration();
// driveTalonFXConfiguration.slot0.kP = 0.05;
// driveTalonFXConfiguration.slot0.kI = 0.0;
// driveTalonFXConfiguration.slot0.kD = 0.0;
// driveTalonFXConfiguration.primaryPID.selectedFeedbackSensor = FeedbackDevice.IntegratedSensor;
// driveTalonFXConfiguration.primaryPID.selectedFeedbackSensor =
// FeedbackDevice.IntegratedSensor;
driveMotor.configFactoryDefault();
driveMotor.configSelectedFeedbackSensor(TalonFXFeedbackDevice.IntegratedSensor, 0, 30);
driveMotor.configNominalOutputForward(0, 30);
@@ -69,15 +70,17 @@ public class SwerveModule extends SubsystemBase {
driveMotor.configPeakOutputForward(1, 30);
driveMotor.configPeakOutputReverse(-1, 30);
driveMotor.configAllowableClosedloopError(0, 0, 30);
driveMotor.config_kP(0, 0.5, 30);
// driveMotor.setInverted(true);
driveMotor.config_kP(0, 0, 30);
driveMotor.config_kI(0, 0, 30);
driveMotor.config_kD(0, 0, 30);
// maybe try a feedforward value?
// driveMotor.configAllSettings(driveTalonFXConfiguration);
CANCoderConfiguration canCoderConfiguration = new CANCoderConfiguration();
canCoderConfiguration.magnetOffsetDegrees = offset;
canCoderConfiguration.sensorDirection = true;
canCoder.configAllSettings(canCoderConfiguration);
m_currentTime = System.currentTimeMillis();
@@ -87,40 +90,50 @@ public class SwerveModule extends SubsystemBase {
}
private Rotation2d getAngle() {
// Note: This assumes the CANCoders are setup with the default feedback coefficient
// Note: This assumes the CANCoders are setup with the default feedback
// coefficient
// and the sensor value reports degrees.
return Rotation2d.fromDegrees(canCoder.getAbsolutePosition());
}
/**
* Set the speed + rotation of the swerve module from a SwerveModuleState object
* @param desiredState - A SwerveModuleState representing the desired new state of the module
*
* @param desiredState - A SwerveModuleState representing the desired new state
* of the module
*/
public void setDesiredState(SwerveModuleState desiredState, boolean ignoreAngle) {
Rotation2d currentRotation = getAngle();
// SmartDashboard.putNumber("Motor " + angleMotor.getDeviceID(), currentRotation.getDegrees());
// SmartDashboard.putNumber("Motor " + angleMotor.getDeviceID(),
// currentRotation.getDegrees());
state = SwerveModuleState.optimize(desiredState, currentRotation);
// Find the difference between our current rotational position + our new rotational position
// Find the difference between our current rotational position + our new
// rotational position
Rotation2d rotationDelta = state.angle.minus(currentRotation);
// Find the new absolute position of the module based on the difference in rotation
// Find the new absolute position of the module based on the difference in
// rotation
double deltaTicks = (rotationDelta.getDegrees() / 360.) * kEncoderTicksPerRotation;
// Convert the CANCoder from it's position reading back to ticks
double currentTicks = canCoder.getPosition() / canCoderFeedbackCoefficient;
double desiredTicks = currentTicks + deltaTicks;
if (!ignoreAngle){
if (!ignoreAngle) {
angleMotor.set(TalonFXControlMode.Position, desiredTicks);
}
// Please work
double ftPerSec = Units.metersToFeet(state.speedMetersPerSecond);
double normFtPerSec = ftPerSec / SwerveDriveConstants.MAX_SPEED_FEET_PER_SEC;
// double angleCorrection = angleMotor.getSelectedSensorVelocity() * 2.69;
// driveMotor.set(TalonFXControlMode.Velocity, angleCorrection + (Units.metersToInches(state.speedMetersPerSecond) * SwerveDriveConstants.TICKS_PER_INCH) / 10);
// driveMotor.set(TalonFXControlMode.Velocity, angleCorrection +
// (Units.metersToInches(state.speedMetersPerSecond) *
// SwerveDriveConstants.TICKS_PER_INCH) / 10);
driveMotor.set(normFtPerSec);// - angleMotor.get());
// driveMotor.set(TalonFXControlMode.Velocity, angleCorrection); // Ratio between axis = 1/1.75 Ratio of wheel is 5.14/1 ratio of steer is 12.8/1
// driveMotor.set(TalonFXControlMode.Velocity, angleCorrection); // Ratio
// between axis = 1/1.75 Ratio of wheel is 5.14/1 ratio of steer is 12.8/1
// m_currentTime = System.currentTimeMillis();
// m_deltaTime = (double) (m_currentTime - m_lastTime);
@@ -129,10 +142,14 @@ public class SwerveModule extends SubsystemBase {
// m_currentPos = driveMotor.getSelectedSensorPosition();
// double m_desiredCorrectionVel = 3.2 * angleMotor.getSelectedSensorVelocity();
// double m_desiredCorrectionPos = (m_deltaTime * m_desiredCorrectionVel) % 2048;
// double m_lastPos = (driveMotor.getSelectedSensorPosition() % 2048) - (m_deltaTime * driveMotor.getSelectedSensorVelocity());
// double m_actualDesiredPos = m_deltaTime * ((Units.metersToInches(state.speedMetersPerSecond) * SwerveDriveConstants.TICKS_PER_INCH) / 10);
// double m_desiredCorrectionPos = (m_deltaTime * m_desiredCorrectionVel) %
// 2048;
// double m_lastPos = (driveMotor.getSelectedSensorPosition() % 2048) -
// (m_deltaTime * driveMotor.getSelectedSensorVelocity());
// double m_actualDesiredPos = m_deltaTime *
// ((Units.metersToInches(state.speedMetersPerSecond) *
// SwerveDriveConstants.TICKS_PER_INCH) / 10);
// System.out.println("Current Pos: " + driveMotor.getSelectedSensorPosition());
// System.out.println("Desired Correction Pos: " + m_desiredCorrectionPos);
// System.out.println("Last Pos: " + m_lastPos);
@@ -150,7 +167,8 @@ public class SwerveModule extends SubsystemBase {
*/
public SwerveModuleState getState() {
// return state;
return new SwerveModuleState(driveMotor.getSelectedSensorVelocity() * SwerveDriveConstants.INCHES_PER_TICK * SwerveDriveConstants.METERS_PER_INCH * 10, getAngle());
return new SwerveModuleState(driveMotor.getSelectedSensorVelocity() * SwerveDriveConstants.INCHES_PER_TICK
* SwerveDriveConstants.METERS_PER_INCH * 10, getAngle());
}
/**
@@ -160,11 +178,18 @@ public class SwerveModule extends SubsystemBase {
driveMotor.set(0);
angleMotor.set(0);
}
@Override
public void periodic(){
public void periodic() {
Rotation2d currentRotation = getAngle();
SmartDashboard.putNumber("Angle Motor " + angleMotor.getDeviceID(), currentRotation.getDegrees());
SmartDashboard.putNumber("Drive Motor " + driveMotor.getDeviceID(), ((driveMotor.getSelectedSensorPosition() / 2048) * 360) % 360);
SmartDashboard.putNumber("Drive Motor " + driveMotor.getDeviceID(),
((driveMotor.getSelectedSensorPosition() / 2048) * 360) % 360);
}
public void reset() {
canCoder.setPositionToAbsolute();
// canCoder.configSensorInitializationStrategy(initializationStrategy)
}
}